Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

debug.cpp@110:a6439e13be8b, 2015-10-27 (annotated)

Committer:
annesteenbeek
Date:
Tue Oct 27 14:45:15 2015 +0000
Revision:
110:a6439e13be8b
Parent:
100:222c27f55b85
Child:
121:6d8f1bdcda05
testing calibration;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
annesteenbeek 14:0c0d1bfd94ea 1 #include "mbed.h"
annesteenbeek 14:0c0d1bfd94ea 2 #include "debug.h"
annesteenbeek 25:874675516927 3 #include "HIDScope.h"
annesteenbeek 25:874675516927 4 #include "buttons.h"
annesteenbeek 25:874675516927 5 #include "actuators.h"
annesteenbeek 25:874675516927 6 #include "config.h"
annesteenbeek 1:80f098c05d4b 7 // all the debugging functions
annesteenbeek 25:874675516927 8
annesteenbeek 98:25528494287d 9 // #define TUNEPID // set to switch between normal opperation or tuning PID
annesteenbeek 110:a6439e13be8b 10 // #define TUNEEMG // set hdiscope for EMG
annesteenbeek 110:a6439e13be8b 11 #define TUNEPWM // set hidscope for rest
annesteenbeek 57:43f707648f2b 12
annesteenbeek 57:43f707648f2b 13 #ifdef TUNEPID
annesteenbeek 57:43f707648f2b 14 HIDScope scope(5);
annesteenbeek 57:43f707648f2b 15
annesteenbeek 57:43f707648f2b 16 void debugProcess(){
annesteenbeek 60:20945383ad1b 17 scope.set(0, motor2PID.getKp());
annesteenbeek 60:20945383ad1b 18 scope.set(1, motor2PID.getKi());
annesteenbeek 60:20945383ad1b 19 scope.set(2, motor2PID.getKd());
annesteenbeek 57:43f707648f2b 20 scope.set(3, motor2SetSpeed);
annesteenbeek 57:43f707648f2b 21 scope.set(4, motor2Speed);
annesteenbeek 62:6c566e6f9664 22 scope.set(5, motor2PWM);
annesteenbeek 57:43f707648f2b 23 scope.send();
annesteenbeek 57:43f707648f2b 24 }
annesteenbeek 57:43f707648f2b 25
annesteenbeek 78:0cc7c64ba94c 26 #endif
annesteenbeek 78:0cc7c64ba94c 27 #ifdef TUNEPWM
annesteenbeek 110:a6439e13be8b 28 HIDScope scope(5);
annesteenbeek 1:80f098c05d4b 29
annesteenbeek 1:80f098c05d4b 30 void debugProcess(){
annesteenbeek 60:20945383ad1b 31 scope.set(0, motor2Pos);
annesteenbeek 52:2ac9dee099ce 32 scope.set(1, motor2SetSpeed);
annesteenbeek 56:f730962fbb53 33 scope.set(2, motor2Speed);
annesteenbeek 52:2ac9dee099ce 34 scope.set(3, motor2PWM);
annesteenbeek 110:a6439e13be8b 35 scope.set(4, 1300 + 700*servoSpeed);
annesteenbeek 25:874675516927 36 scope.send();
annesteenbeek 57:43f707648f2b 37 }
annesteenbeek 57:43f707648f2b 38
annesteenbeek 78:0cc7c64ba94c 39 #endif
annesteenbeek 78:0cc7c64ba94c 40
annesteenbeek 78:0cc7c64ba94c 41 #ifdef TUNEEMG
annesteenbeek 100:222c27f55b85 42 HIDScope scope(5); // Number of scopes
annesteenbeek 78:0cc7c64ba94c 43
annesteenbeek 78:0cc7c64ba94c 44 void debugProcess(){
annesteenbeek 100:222c27f55b85 45 scope.set(0,y_velocity);
annesteenbeek 100:222c27f55b85 46 scope.set(1,motor2SetSpeed);
annesteenbeek 100:222c27f55b85 47 scope.set(2,z_velocity);
annesteenbeek 100:222c27f55b85 48 scope.set(3,mode);
annesteenbeek 100:222c27f55b85 49 scope.set(4,DOF);
annesteenbeek 100:222c27f55b85 50 scope.set(5,motorsEnable);
annesteenbeek 78:0cc7c64ba94c 51 scope.send();
annesteenbeek 78:0cc7c64ba94c 52 }
annesteenbeek 57:43f707648f2b 53 #endif